分布式滑转向车辆的应急控制策略

Q4 Engineering

Journal of Beijing Institute of Technology (English Edition) Pub Date : 2021-06-30 DOI:10.15918/J.JBIT1004-0579.20109

Xueyuan Li, Chen Jiang, Jin Chen, Yu Zhang

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引用次数: 1

摘要

基于轮胎的横向特性和制动力的输入变量，建立了轮滑转向车辆的二自由度横向动力学分析模型。在此基础上，对滑转向过程中的稳态偏航速度增益和转向半径进行了理论分析。然后给出了制动力的控制边界和分配策略。利用全地形车辆进行了实车试验，验证了该策略能够保证车辆在失去驱动力时的安全转向。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Emergency Control Strategy for Distributed Skid-Steering Vehicles

Based on the lateral properties of tire and the input variable of braking force, a 2-DOF lateral dynamic analytical model of wheel skid-steered vehicle is established in this paper. Based on the model, the steady-state yaw velocity gain and steering radius in the process of skid-steering are analyzed theoretically. Then the control boundary and distribution strategy of the braking force are given. An all-terrain vehicle was used to carry out a real vehicle test, and verified that the strategy can ensure the safe steering of the vehicle when the driving force is lost.

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来源期刊

Journal of Beijing Institute of Technology (English Edition) Engineering-Engineering (all)

CiteScore

1.10

自引率

0.00%

发文量

2437